CN111207746B - A azimuth extraction device for inertial positioning and orientation equipment and its calibration method - Google Patents

Abstract

The invention discloses an azimuth extraction device for inertial positioning and orientation equipment and a calibration method thereof. The device includes a prism assembly, a prism adjustment assembly and a water bubble assembly; The prism adjustment assembly and the blister assembly are respectively arranged at the adjacent sidewalls of the prism bracket; the prism adjustment assembly realizes the ridge adjustment of the right angle prism through the screw bracket, the adjustment block and the upper and lower adjustment screws that cooperate with each other; the blister assembly Through the angle-adjustable mounting seat and the water bubble set in the mounting seat, the axis of the cylindrical water bubble can be adjusted in a parallel state with respect to the ridge of the right-angle prism; the device uses two self-collimating theodolites to calibrate the axis of the water bubble and the prism of the right-angle prism. The ridges are parallel; the device and its calibration method can not only meet the adjustment requirements of the high-precision and large-angle right-angle prism ridge level of the azimuth extraction device of the inertial positioning and orientation equipment, but also the adjustment process is convenient, quick and efficient.

Description

A azimuth extraction device for inertial positioning and orientation equipment and its calibration method

technical field

The invention relates to the technical field of azimuth extraction and heading accuracy verification of inertial positioning and orientation equipment, in particular to an azimuth extraction device of inertial positioning and orientation equipment and a calibration method thereof.

Background technique

The inertial positioning and orientation equipment is composed of an inertial measurement unit, an odometer and an altimeter. It is equipped on a military vehicle and can provide position and three-dimensional attitude information for the military vehicle autonomously and in real time. The vehicle-mounted test of the military vehicle installs the inertial positioning and orientation equipment on the military vehicle to move on the actual road conditions, and compares the output navigation value of the inertial positioning and orientation equipment with the reference value to obtain its navigation accuracy. A key test to evaluate its navigation accuracy at acceptance. Due to the limited internal volume and installation area of the military vehicle, it is impossible to install a reference inertial navigation whose navigation accuracy is one order of magnitude higher than that of the inertial positioning and orientation equipment as the reference value for the navigation accuracy evaluation of the inertial positioning and orientation equipment. to assess the navigation accuracy. Therefore, generally, the standard point of geological surveying and mapping is used as the position reference, the level is used as the horizontal attitude reference, and the outgoing light of the gyro theodolite is used as the orientation reference. In particular, it is necessary to use the azimuth extraction device installed on the inertial measurement unit in the inertial positioning and orientation device to return the outgoing light of the gyro-theodolite to the gyro-theodolite to obtain the reference heading value of the inertial positioning and orientation device.

At present, right-angle prisms are widely used as the azimuth extraction device of inertial positioning and orientation equipment. Difficulty of sighting. However, the ridge of a right-angle prism must be level with the ground to ensure the accuracy of azimuth extraction. In order to ensure this requirement, the patent CN102062597A discloses a Porro prism azimuth reference measuring instrument, and the patent CN103033172A discloses an azimuth reference mirror based on a roof prism. , the patent CN103017792A discloses an orientation reference mirror, the above-mentioned disclosed technical solutions utilize the horizontally adjustable right-angle prism mounting base to adjust the level of the right-angle prism ridge, which is currently mainly applied to the orientation reference of indoor or outdoor inertial equipment; However, due to the following two reasons, these existing technologies cannot be directly applied to the azimuth extraction device of inertial positioning and orientation equipment: 1) The leveling mechanism of the prior art adopts the nut spring scheme, which can only perform a small-angle leveling on the ridge of the right-angle prism. Adjustment can not meet the requirements of large-angle horizontal adjustment of the right-angle prism ridge when the azimuth extraction device of the military vehicle is uphill or downhill when the azimuth extraction device has a large inclination angle; 2) There is no clear calibration method, which cannot ensure the azimuth extraction accuracy. .

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a kind of inertial positioning and orientation device azimuth extraction which solves the problem existing in the prior art that the orientation extraction device cannot be adjusted horizontally at a large angle and that the orientation extraction accuracy of the inertial orientation orientation equipment cannot be satisfied without a clear calibration method. device.

Another object of the present invention is to provide a method for comparing the azimuth extraction device of the above inertial positioning and orientation equipment.

For this reason, the technical scheme of the present invention is as follows:

An azimuth extraction device for inertial positioning and orientation equipment, comprising a prism assembly, a prism adjustment assembly and a water bubble assembly arranged on a base; wherein,

The prism assembly is arranged in the prism assembly installation hole opened on the base, which includes a prism bracket, a right-angle prism and a prism pressure plate arranged in sequence from bottom to top; the prism bracket can be rotatably arranged in the prism assembly installation hole relative to the base, The upper part of the bracket is provided with a prism installation groove that is adapted to the size and shape of the right angle prism, so that the right angle prism is arranged in the prism installation groove in a way that the right angle prism mirror surface is parallel to the top surface of the prism bracket, and the right angle prism is fixed in the prism installation groove by the prism pressure plate Inside;

The prism adjustment assembly and the blister assembly are respectively arranged on the adjacent sides of the two adjacent side walls of the prism bracket; wherein,

The prism adjustment assembly includes a screw bracket, a cylindrical adjustment block, an upper adjustment screw and a lower adjustment screw; the screw bracket is fixed on the base located on the adjacent side of the prism bracket, and a through slot is opened on it and symmetrically opened on both sides of the through slot. The upper adjusting screw and the lower adjusting screw are symmetrically screwed on the groove walls on both sides of the through slot through the two screw holes respectively; the cylindrical adjustment block is arranged in the through slot of the screw bracket, and one end of the adjustment block is fixed. On the side wall of the prism bracket, the top ends of the upper adjustment screw and the lower adjustment screw respectively abut on the opposite side wall of the cylindrical adjustment block to adjust the position of the ridge of the right-angle prism;

The blister assembly includes a cylindrical blister arranged on the blister mounting seat; one end of the blister mounting seat is movably mounted on the side wall of the prism bracket so that it can rotate relative to the prism bracket, and the other end of the blister mounting seat is provided with a blister set screw , so that the blister mounting seat can be fixed on the prism bracket in the state that it forms a certain angle with the side wall of the prism bracket, so that the axis of the cylindrical blister is parallel to the ridge of the right-angle prism.

Further, the prism support is a cylindrical structure with an annular boss at the top, so that the bottom end face of the annular boss of the prism support is press-fit on the top surface of the base; the bottom end of the prism support is located outside the base and is opened on its outer wall. There is an annular groove with an axial retaining ring set, so that the axial retaining ring is partially embedded in the annular groove, and the convex part abuts on the bottom surface of the base, so as to limit the axial movement of the prism bracket and the prism bracket can be relatively The base is rotatably arranged in the installation hole of the prism assembly.

Further, an annular step is provided on the top surface of the prism support and at the outer periphery of the prism installation groove, and the mirror surface of the right angle prism is slightly higher than the upper end face of the annular step or flush with the upper end face of the annular step, so that the prism pressing plate is arranged on the The prism gasket at the edge of the bottom surface forms a seal with the prism bracket and the right-angle prism respectively; the prism pressing plate is fixed on the prism bracket by four pressing plate fastening screws respectively arranged at the four top corners.

Further, the blister mounting seat is composed of a blister set screw, a blister bracket, a left blister support ring, a right blister support ring, a blister cover, a small shaft, a blister support, a first blister bracket adjustment screw and a second blister bracket adjustment screw. ;in,

The blister bracket is a cylinder with an opening at the rear end, and a blister observation window and a gypsum injection hole are opened on its side wall; an adjustment block is arranged at the center of the front end face of the blister bracket, and the adjustment block is provided with the axis direction of the blister bracket. The vertical first adjustment screw hole, the second adjustment screw hole and the fixing screw hole, and the first adjustment screw hole and the second adjustment screw hole are located on both sides of the fixing screw hole; in the first adjustment screw hole and the second adjustment screw hole A first blister bracket adjustment screw and a second blister bracket adjustment screw are respectively provided, and a blister set screw is arranged in the fixing screw hole;

The left blister support ring and the right blister support ring are respectively clamped on the front end wall and the rear end wall of the cylindrical blister, so that the cylindrical blister installed in the blister bracket is assembled on the blister through the left blister support ring and the right blister support ring. inside the bracket; the blister cover is assembled on the open end of the blister bracket;

The blister support is fixed on the side wall of the prism bracket, and its rear end is provided with a shaft hole; the rear end side wall of the blister bracket is provided with a connecting piece, and the connecting piece is provided with a shaft hole, so that the blister support is arranged in sequence through the blister support. The connecting piece and the small shaft in the shaft hole of the blister support are rotatably connected to the blister support.

Further, the space formed by the assembly of the blister holder and the blister blocking cover is filled with plaster coated on the outer layer of the blister.

Further, a bottom cover is provided at the bottom of the base, and the bottom cover is mounted on the bottom surface of the base through the bottom cover sealing gasket; a protective cover is provided on the top of the base, and the protective cover is detachably sealed and fixed on the base through the protective cover gasket superior.

Furthermore, two mounting plates are radially formed on a pair of opposite side walls of the base, and two mounting holes are evenly arranged on each mounting plate.

A calibration method for the azimuth extraction device of the above-mentioned inertial positioning and orientation equipment, the steps are as follows:

S1. A azimuth lead-out device mounting bracket is vertically arranged on the zero-level flat platform, and the inertial positioning and orientation equipment azimuth lead-out device is fixed on the azimuth lead-out device mounting bracket; The first self-collimation theodolite and the second self-collimation theodolite aligned with the azimuth extraction device of the inertial positioning and orientation device, and keep the three erected on a straight line; wherein, the first self-collimation theodolite is set at a distance from the inertial positioning and orientation device The azimuth extraction device is at a relatively close position, and its setting height is lower than the setting height of the second self-collimation theodolite, so that the second self-collimation theodolite looks down on the azimuth extraction device, and the first self-collimation theodolite looks up at the azimuth extraction device;

S2. Rotate the upper adjustment screw and lower adjustment screw of the prism adjustment assembly to roughly adjust the ridge level of the right angle prism, so that the horizontal return image in the two autocollimation theodolite barrels is basically level, and read the initial value of the first autocollimation theodolite. The bearing reading is β ₀ ;

S2. Rotate the azimuth of the first auto-collimation theodolite by 180°, so that the azimuth reading is β ₀ +180°, and then align the first auto-collimation theodolite with the second auto-collimation theodolite to obtain the first auto-collimation theodolite The azimuth reading of the theodolite is β ₁ , then the azimuth aiming error caused by the non-level ridge of the right angle prism is obtained as: δ=β ₁ -(β ₀ +180°);

的位置上；S3. Turn the azimuth of the first autocollimation theodolite to its azimuth reading as

in the position;

S4. Rotate the upper and lower adjustment screws of the prism adjustment component to adjust the ridge level of the right-angle prism, so that the echo image of the front self-collimation theodolite and the differentiation plate double wire are completely coincident;

S. Using the second self-collimation theodolite as the benchmark, turn the upper adjustment screw and the lower adjustment screw in the prism adjustment assembly to adjust the ridge level of the right angle prism, so that the second self-collimation theodolite is completely aligned;

S6. Rotate the first blister support adjustment screw and the second blister support adjustment screw of the blister assembly to level the blister, that is, the bubble in the blister is located in the center of the blister to represent the blister level, and the state is cured by tightening the screw to realize the blister level representation The ridges of a right angle prism are horizontal.

The beneficial effect of the present application is that: the inertial positioning and orientation equipment azimuth extraction device and the calibration method design an inertial positioning and orientation equipment orientation extraction device with water bubble indication, and the right angle prism is realized by the thread meshing movement of the upper adjustment screw and the lower adjustment screw. The level of the ridge is adjusted, so the adjustment precision is high and the adjustment can be realized in a wide range. For the azimuth extraction device of the inertial positioning and orientation equipment of the present invention, a calibration method is proposed that the level of the water bubble is consistent with the level of the ridge of the right-angle prism. The azimuth extraction device and calibration method of the inertial positioning and orientation equipment of the present invention can not only meet the adjustment requirements of the high-precision and large-angle right-angle prism ridge level of the azimuth extraction device of the inertial positioning and orientation equipment, but also the level of the water bubble represents the level of the right-angle prism ridge. , so it is convenient, quick and efficient in the actual azimuth extraction test.

Description of drawings

Figure 1 (a) is a schematic diagram of the overall structure of the front view direction when the azimuth extraction device of the inertial positioning and orientation equipment of the present invention has not removed the protective cover;

Figure 1(b) is a schematic diagram of the overall structure in the side view direction of the azimuth extraction device of the inertial positioning and orientation equipment of the present invention when the protective cover is not removed;

2 is a schematic diagram of the overall structure in the front view direction of the azimuth extraction device of the inertial positioning and orientation equipment of the present invention when the protective cover is removed;

3 is a schematic diagram of the overall structure with a partial cross-section in a side view direction when the azimuth extraction device of the inertial positioning and orientation equipment of the present invention has not removed the protective cover;

4 is a schematic structural diagram of the blister assembly in the front view direction of the azimuth extraction device of the inertial positioning and orientation device of the present invention;

5 is a schematic structural diagram of the blister assembly in the direction of the top view of the azimuth extraction device of the inertial positioning and orientation device of the present invention;

Figure 6 (a) is a schematic diagram of the layout of each component in the direction of the front view of the calibration site of the inertial positioning and orientation equipment azimuth extraction device calibration method of the present invention;

6(b) is a schematic diagram of the layout of each component of the calibration method of the azimuth extraction device of the inertial positioning and orientation equipment of the present invention for calibrating the direction of the top view of the site;

Fig. 7 is the flow chart of the calibration method of the azimuth extraction device of the inertial positioning and orientation equipment of the present invention;

8 is a schematic diagram of the application of the azimuth extraction device of the inertial positioning and orientation equipment of the present invention when the azimuth extraction is carried out in the on-board test of a military vehicle;

Among them: 1, protective cover, 2, base, 3, blister assembly, 301, blister set screw, 302, blister bracket, 303, left blister support ring, 304, blister, 305, right blister support ring, 306, blister stopper Cover, 307, Small Shaft, 308, Blister Holder, 309, First Blister Bracket Adjustment Screw, 310, Second Blister Bracket Adjustment Screw, 4, Upper Adjustment Screw, 5, Screw Bracket, 6, Adjustment Block, 7, Lower Adjusting screw, 8, prism bracket 9, prism pressure plate, 10, right angle prism, 11, prism gasket, 12, protective cover gasket, 13, bottom cover gasket, 14, bottom cover, 15, axial retaining ring, 16 , Mounting bracket for azimuth extraction device, 17. Zero-level flat platform, 18. Front self-collimating theodolite, 19. Backward self-collimating theodolite, 20. Inertial measurement unit.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments do not limit the present invention by any means.

Example 1

An inertial positioning and orientation device azimuth extraction device includes a prism assembly, a prism adjustment assembly and a water bubble assembly 3 arranged on the base 2; wherein,

As shown in Figure 1 (a), Figure 1 (b), Figure 2 and Figure 3, the base 2 is a cubic structure, and its left side is respectively provided with a prism assembly mounting hole; Two mounting plates are formed extending radially on the side wall, and two mounting holes are evenly arranged on each mounting plate, so that the device can be easily installed at the corresponding position;

As shown in FIG. 3 , a bottom cover 14 is provided at the bottom of the base 2 , the bottom cover 14 is mounted on the bottom of the base 2 , and a base gasket 13 is provided on the bottom cover 14 and the annular surface in contact with the base 2 , so that the The bottom cover 14 sealing cover is installed on the bottom surface of the base 2; wherein, the bottom cover gasket 13 is adhered to the bottom cover 14 with strong glue to form an integral body with the bottom cover 14, and plays the role of dustproof, moistureproof and waterproof;

As shown in Fig. 1(a), Fig. 1(b) and Fig. 3, a protective cover 1 is installed on the top of the base 2, and a protective cover is provided on the protective cover 1 and on the annular surface in contact with the base 2 to seal Pad 12, so that the detachable sealing cover is mounted on the base 2; wherein, the protective cover gasket 12 is pasted on the inside of the protective cover 1 with strong glue, so that it is fixed with the protective cover 1 as a whole, so as to realize positioning without inertial positioning When orienting the azimuth lead-out device of the equipment, install the protective cover 1 with the protective cover gasket 12 on the base 2 to protect the prism assembly and the blister assembly 3 and play the role of dustproof, moisture-proof and waterproof; Remove the protective cover 1 with the protective cover gasket 12 to expose the prism assembly and the blister assembly 3;

In addition, an annular plate is formed at the bottom end of the protective cover 1 extending radially outward, so that the protective cover 1 can be detachably fixed on the base 2 through four fastening bolts arranged at the four corners of the annular plate;

As shown in FIG. 2 and FIG. 3 , the prism assembly is arranged in the prism assembly mounting hole of the base 2, which includes a prism bracket 8, a right-angle prism 10 and a prism pressing plate 9 arranged in sequence from bottom to top; wherein,

The prism support 8 is a cylindrical structure with an annular boss at the top, so that the bottom end face of the annular boss of the prism support 8 is press-fitted on the top surface of the base 2; the bottom end of the prism support 8 is located outside the base 2 and its outer wall There is an annular groove on which the axial retaining ring 15 is set, so that the axial retaining ring 15 is partially embedded in the annular groove, and the convex part abuts on the bottom surface of the base 2 to limit the axial movement of the prism bracket 8 At the same time, the prism bracket 8 can be rotatably arranged in the installation hole of the prism assembly relative to the base 2;

The upper part of the prism bracket 8 is provided with a prism installation groove adapted to the shape and size of the right angle prism 10, so that the right angle prism 10 is arranged in the prism installation groove in a manner that the right angle prism mirror surface is parallel to the top surface of the prism bracket 8, and the right angle prism 10 passes through the prism. The pressure plate 9 is fixed in the prism installation groove; meanwhile, an annular step is provided on the top surface of the prism support 8 and at the outer periphery of the prism installation groove, as the pressure plate installation groove, the mirror surface of the right angle prism 10 is slightly higher than the upper end face of the annular step;

The prism pressing plate 9 is embedded in the prism mounting groove, so that it can be installed on the top of the prism bracket 8 and the right angle prism 10 at the same time, and the prism pressing plate 9 is fastened by the four fastening bolts arranged at the four top corners of the prism pressing plate 9. It is fixed on the prism support 8; in order to ensure the sealing of the prism assembly, a prism sealing gasket 11 is pasted on the bottom surface of the prism pressing plate 9 with super glue, so that the prism pressing plate 9 can pass through the prism sealing gasket 11 at the same time with the prism bracket 8 and the right angle prism. A seal is formed between 10, and under the fixing action of four fastening bolts, the elastic pressing action of the prism gasket 11 further enhances the pressing force on the right angle prism 10;

As shown in FIG. 2, the prism adjustment assembly includes a screw bracket 5, a cylindrical adjustment block 6, an upper adjustment screw 4 and a lower adjustment screw 7; wherein, the screw bracket 5 is a rectangular block with a through slot on the top surface, and is in the Two screw holes are symmetrically opened on the groove walls on both sides of the slot, so that the upper adjustment screw 4 and the lower adjustment screw 7 are respectively inserted from the outside of the rectangular block and screwed into the two screw holes; the cylindrical adjustment block 6 is arranged on the screw In the through groove of the bracket 5, and one end of which is fixed on the side wall of the prism bracket 8, the top ends of the upper adjustment screw 4 and the lower adjustment screw 7 are respectively abutted on the opposite side wall of the cylindrical adjustment block 6 to adjust the right angle prism. 10 The position of the ridge, and the state of the adjustment block 6 is fixed after the adjustment is completed;

The prism adjustment assembly is arranged on the right side of the base, the screw bracket 5 is fixed on the base 2, and one end of the cylindrical adjustment block 6 is fixed on the side wall of the adjacent prism bracket 8; when in use, adjust the screw 4 and Lower the adjusting screw 7 to rotate the prism bracket 8 to adjust the ridge of the right angle prism 10 to be horizontal;

As shown in Figure 2, Figure 4 and Figure 5, the blister assembly includes a blister mounting seat and a cylindrical blister 304 fixed on the inner side of the blister mounting seat; , the right blister support ring 305, the blister cover 306, the small shaft 307, the blister support 308, the first blister support adjustment screw 309 and the second blister support adjustment screw 310; wherein,

The blister bracket 302 is a cylinder with an opening at the rear end, and a blister observation window and a gypsum injection hole are opened on its side wall; an adjustment block is provided at the center of the front end face of the blister bracket 302, and a blister bracket 302 is provided on the adjustment block. The first adjustment screw hole, the second adjustment screw hole and the fixed screw hole are perpendicular to the axis direction of the screw hole, and the first adjustment screw hole and the second adjustment screw hole are located on both sides of the fixed screw hole; in the first adjustment screw hole and the second adjustment screw hole A first blister support adjusting screw 309 and a second blister support adjusting screw 310 are respectively arranged in the screw holes, and a blister fixing screw 301 is arranged in the fixing screw hole;

The left blister support ring 303 and the right blister support ring 305 are respectively clamped on the front end wall and the rear end wall of the cylindrical blister 304, so that the cylindrical blister 304 installed in the blister holder 302 passes through the left blister support ring 303 and the right blister support ring 304. The blister support ring 305 is assembled in the blister holder 302 and kept coaxially arranged with the blister holder 302; Filled with gypsum to stabilize the installation of the blisters and isolate the effect of the outside temperature on the blisters;

The blister support 308 is fixed on the side wall of the prism bracket 8, and the side wall of the fixed blister support 308 is adjacent to the side wall of the fixed cylindrical adjustment block 6; the blister support 308

The assembly method of the blister assembly is as follows: firstly, the left blister support ring and the right blister support ring are respectively stuck on the blister against the left and right end faces of the blister, and the blister stuck on the left blister support ring and the right blister support ring is put into the blister Put liquid plaster into the bracket, and inject liquid plaster through the plaster injection hole, so that the plaster fills the blister well; after the plaster is solidified, screw the blister stopper on the blister bracket; then install the small shaft into the shaft hole of the blister bracket and the blister support , and riveting one end of the small shaft to ensure that the blister support can flexibly rotate relative to the blister support around the small shaft.

The use principle of the azimuth extraction device of the inertial positioning and orientation device is as follows: first, the axis of the water bubble 304 is level with the ridge of the right angle prism 10 through the calibration method, and then the prism adjustment component is used to adjust the level of the ridge of the right angle prism 10. When the water bubble 304 is in the The blisters in the middle scale represent the ridge level of the right angle prism 10.

Example 2

As shown in FIG. 7 , the calibration method based on the azimuth extraction device of the inertial positioning and orientation equipment of Embodiment 1 includes the following steps:

S1. As shown in Fig. 6(a) and Fig. 6(b), a zero-level flat-plate platform 17 is set, and an azimuth lead-out device mounting bracket 16 is vertically arranged on its top surface, so that the inertial positioning and orientation equipment of Li 1 can be implemented. The azimuth lead-out device is fixed on the azimuth lead-out device by screwing on the mounting bracket 16 through the two mounting plates of the base 2; Collimating the theodolite 19, and keeping the three erected on a straight line; the setting heights of the first self-collimating theodolite 18 and the second self-collimating theodolite 19 are different but both are aligned with the azimuth extraction device of the inertial positioning and orientation equipment;

Specifically, the azimuth extraction device mounting bracket 16 is a standard iron machined with mounting screw holes corresponding to the azimuth extraction device; the first auto-collimation theodolite 18 is arranged at a position closer to the azimuth extraction device of the inertial positioning and orientation device, and its setting height is The setting height of the second self-collimation theodolite 19 is lower than that of the second self-collimation theodolite 19, so that the second self-collimation theodolite 19 looks down on the azimuth extraction device, and the first self-collimation theodolite 18 looks up at the azimuth extraction device;

S2. Rotate the upper adjustment screw 4 and the lower adjustment screw 7 of the prism adjustment assembly to roughly adjust the ridge level of the right angle prism 10, so that the horizontal return image in the two auto-collimation theodolite barrels is basically level, and read the first auto-collimation The initial azimuth reading of theodolite 18 is β ₀ ;

S2. Rotate the azimuth of the first auto-collimation theodolite 18 by 180°, so that the azimuth reading is β ₀ +180°, and then align the first auto-collimation theodolite 18 with the second auto-collimation theodolite 19 to obtain the first The azimuth reading of the self-collimating theodolite 18 is β ₁ , and the azimuth aiming error caused by the non-level ridge of the right angle prism 10 is obtained as: δ=β ₁ -(β ₀ +180°);

的位置上；S3, turn the azimuth of the first autocollimation theodolite 18 to its azimuth reading as

in the position;

S4, twist the upper adjustment screw 4 and the lower adjustment screw 7 of the prism adjustment assembly to adjust the ridge level of the right angle prism 10, so that the back image of the front self-collimation theodolite 18 is completely coincident with the differentiation plate double wire;

S5, take the second auto-collimation theodolite 19 as the benchmark, turn the upper adjustment screw 4 and the lower adjustment screw 7 in the prism adjustment assembly to adjust the ridge level of the right angle prism 10, so that the second auto-collimation theodolite 19 is completely aligned ;

S6. Twist the first blister support adjustment screw 309 and the second blister support adjustment screw 310 of the blister assembly to level the blister 304, that is, the bubble in the blister 304 is located in the center of the blister 304 to represent the level of the blister 304, and the blister 301 is tightened by the blister set screw 301 This state is cured, realizing that the level of the blisters 304 represents the level of the ridges of the right angle prism 10 .

Example 3

The azimuth extraction device of the inertial positioning and orientation equipment and the corresponding calibration method are further explained and described below by taking the example of the inertial positioning and orientation device azimuth extraction device used for calibration in the on-board test of military vehicles as an example.

As shown in FIG. 8 , the inertial measurement unit 20 in the inertial positioning and orientation device is installed on the mounting plate of a military vehicle. When the vehicle is parked on an uphill, the heading of the inertial measurement unit 20 is clamped by 12° relative to the ground level. angle, at this time, it is necessary to use the azimuth extraction device of the inertial positioning and orientation equipment to carry out the azimuth extraction to the inertial measurement unit 20, and the specific steps are as follows:

Step 1): Install the azimuth lead-out device of the inertial positioning and orientation equipment calibrated after implementation 2 on the screw mounting holes of the azimuth lead-out device reserved by the inertial measurement unit 20 through the two mounting plates of the base 2, and remove the protective cover 1 to expose the right angle prism 10 and the blister assembly 3;

Step 2): Rotate the upper adjustment screw 4 and the lower adjustment screw 7 in the prism adjustment assembly until the bubble in the blister 304 in the blister assembly 3 is located in the center of the blister 304, indicating that the blister 304 is level with the ground, and also represents a right angle prism The prism of 10 is level with the earth;

Step 3): aim the right angle prism 10 in the azimuth extraction device with the gyro theodolite, the azimuth angle reading of the gyro theodolite relative to the north is the azimuth reference of the inertial measurement unit 20, and the heading output of the inertial positioning and orientation device is compared with the azimuth reference to obtain The heading accuracy of an inertial positioning device.

Claims (8)

1. An azimuth leading-out device of inertial positioning and orientation equipment is characterized by comprising a prism component, a prism adjusting component and a bubble component (3) which are arranged on a base (2); wherein,

the prism assembly is arranged in a prism assembly mounting hole formed in the base (2) and comprises a prism bracket (8), a right-angle prism (10) and a prism pressing plate (9) which are sequentially arranged from bottom to top; the prism support (8) can be rotatably arranged in the prism assembly mounting hole relative to the base (2), a prism mounting groove which is matched with the size and the shape of the right-angle prism (10) is formed in the upper part of the prism support (8), the right-angle prism (10) is arranged in the prism mounting groove in a mode that the mirror surface of the right-angle prism is parallel to the top surface of the prism support (8), and the right-angle prism (10) is fixed in the prism mounting groove through a prism pressing plate (9);

the prism adjusting component and the bubble component (3) are respectively arranged at the adjacent sides of two adjacent side walls of the prism support (8); wherein,

the prism adjusting component comprises a screw bracket (5), a cylindrical adjusting block (6), an upper adjusting screw (4) and a lower adjusting screw (7); the screw support (5) is fixed on the base (2) positioned at the adjacent side of the prism support (8), a through groove and two screw holes symmetrically arranged on the groove walls at the two sides of the through groove are arranged on the screw support, so that the upper adjusting screw (4) and the lower adjusting screw (7) are symmetrically screwed on the groove walls at the two sides of the through groove through the two screw holes respectively; the cylindrical adjusting block (6) is arranged in the through groove of the screw support (5), one end of the cylindrical adjusting block is fixed on the side wall of the prism support (8), and the top ends of the upper adjusting screw (4) and the lower adjusting screw (7) are respectively abutted against the side wall of the opposite side of the cylindrical adjusting block (6) so as to adjust the position of the ridge of the right-angle prism (10);

the blister assembly includes a cylindrical blister (304) disposed on a blister mounting seat; bubble mount pad one end movable mounting makes it rotate for prism support (8) on the lateral wall of prism support (8), and the other end of bubble mount pad is equipped with bubble holding screw, makes the bubble mount pad fix on prism support (8) with its state that is certain contained angle with the lateral wall of prism support (8), realizes that the axis of cylindrical bubble (304) parallels with the arris ridge of right angle prism (10).

2. The azimuth leading-out device of the inertial positioning and orienting equipment according to claim 1, wherein the prism support (8) is a cylindrical structure with an annular boss at the top end, so that the end face of the bottom end of the annular boss of the prism support (8) is pressed on the top face of the base (2); the bottom end of the prism support (8) is located on the outer side of the base (2) and the outer wall of the base and is provided with an annular groove in which the axial retainer ring (15) is sleeved, so that the axial retainer ring (15) is locally embedded in the annular groove, and the convex part abuts against the bottom surface of the base (2), so that the prism support (8) can be rotationally arranged in the prism assembly mounting hole relative to the base (2) while the axial movement of the prism support (8) is limited.

3. The inertial positioning and orienting device azimuth extractor device according to claim 1, wherein an annular step is formed on the top surface of the prism support (8) and at the periphery of the prism mounting groove, and the mirror surface of the right-angle prism (10) is slightly higher than the upper end surface of the annular step or is flush with the upper end surface of the annular step, so that the prism pressure plate (9) forms a seal with the prism support (8) and the right-angle prism (10) respectively through a prism sealing gasket (11) arranged at the edge of the bottom surface of the prism pressure plate; the prism pressing plate (9) is fixed on the prism bracket (8) through four pressing plate fastening screws respectively arranged at four vertex angles of the prism pressing plate.

4. The azimuth leading-out device of the inertial positioning and orienting equipment according to claim 1, wherein the blister mounting seat is composed of a blister set screw (301), a blister support (302), a left blister support ring (303), a right blister support ring (305), a blister baffle cover (306), a small shaft (307), a blister support seat (308), a first blister support adjusting screw (309) and a second blister support adjusting screw (310); wherein,

the bubble bracket (302) is a cylinder body with an opening at the rear end, and the side wall of the bubble bracket is provided with a bubble observation window and a gypsum injection hole; an adjusting block is arranged at the center of the end face of the front end of the bubble support (302), a first adjusting screw hole, a second adjusting screw hole and a fixing screw hole which are vertical to the axis direction of the bubble support (302) are formed in the adjusting block, and the first adjusting screw hole and the second adjusting screw hole are positioned on two sides of the fixing screw hole; a first blister support adjusting screw (309) and a second blister support adjusting screw (310) are respectively arranged in the first adjusting screw hole and the second adjusting screw hole, and a blister fastening screw (301) is arranged in the fixing screw hole;

the left blister support ring (303) and the right blister support ring (305) are respectively clamped on the front end wall and the rear end wall of the cylindrical blister (304), so that the cylindrical blister (304) installed in the blister support (302) is assembled in the blister support (302) through the left blister support ring (303) and the right blister support ring (305); the blister cover (306) is assembled at the open end of the blister support (302);

the bubble support (308) is fixed on the side wall of the prism support (8), and the rear end of the bubble support is provided with a shaft hole; the side wall of the rear end of the bubble support (302) is provided with a connecting piece, and the connecting piece is provided with a shaft hole, so that the bubble support (302) is rotatably connected to the bubble support (308) through small shafts (307) which are sequentially arranged in the shaft holes of the connecting piece and the bubble support (308).

5. The azimuth leading-out device of the inertial positioning and orienting equipment according to claim 4, characterized in that a space formed by assembling the bubble bracket (302) and the bubble blocking cover (306) is filled with gypsum coated on the outer layer of the bubble (304).

6. The azimuth leading-out device of the inertial positioning and orienting equipment according to claim 1, characterized in that a bottom cover (14) is arranged at the bottom of the base (2), and the bottom cover (14) is hermetically sealed on the bottom surface of the base (2) through a bottom cover sealing gasket (13); the top of the base (2) is provided with a protective cover (1), and the protective cover (1) is detachably fixed on the base (2) in a sealing manner through a protective cover sealing gasket (12).

7. The azimuth leading-out device of inertial positioning and orienting equipment according to claim 6, wherein two mounting plates are formed on a set of opposite side walls of the base (2) in a radial extending manner, and two mounting holes are uniformly distributed on each mounting plate.

8. A calibration method for the azimuth lead-out device of the inertial positioning and orienting equipment as claimed in claim 4, characterized by comprising the following steps:

s1, vertically arranging an azimuth leading-out device mounting bracket (16) on the zero-level flat platform (17), and fixing the azimuth leading-out device of the inertial positioning and orienting equipment on the azimuth leading-out device mounting bracket (16); then a first autocollimation theodolite (18) and a second autocollimation theodolite (19) which are aligned with the position leading-out device of the inertial positioning and orienting equipment are arranged at the front side of the position leading-out device of the inertial positioning and orienting equipment at intervals and are erected on a straight line; the first autocollimation theodolite (18) is arranged at a position close to the azimuth leading-out device of the inertial positioning and orienting equipment, and the setting height of the first autocollimation theodolite is lower than that of the second autocollimation theodolite (19), so that the second autocollimation theodolite (19) overlooks the azimuth leading-out device, and the first autocollimation theodolite (18) overlooks the azimuth leading-out device;

s2, screwing the upper adjusting screw (4) and the lower adjusting screw (7) of the prism adjusting component to roughly adjust the ridge level of the right-angle prism (10), so that the horizontal echoes in the two autocollimation theodolite drawtubes are basically horizontal, and reading the initial azimuth reading of the first autocollimation theodolite (18) as beta₀；

S2, rotating the orientation of the first autocollimation theodolite (18) by 180 degrees to make the orientation reading beta₀+180 °, and then sighting the first autocollimation theodolite (18) with the second autocollimation theodolite (19) to obtain the azimuth reading of the first autocollimation theodolite (18) as beta₁And then obtaining the azimuth aiming error caused by the fact that the ridge of the right-angle prism (10) is not horizontal as follows: delta-beta₁-(β₀+180°)；

S3, rotating the azimuth of the first autocollimation theodolite (18) to the azimuth reading of

In the position of (a);

s4, screwing an upper adjusting screw (4) and a lower adjusting screw (7) of the prism adjusting assembly, and adjusting the ridge level of the right-angle prism (10) to make the return image of the front auto-collimation theodolite (18) completely coincide with the double filaments of the differentiation plate;

s5, using the second autocollimation theodolite (19) as a reference, screwing an upper adjusting screw (4) and a lower adjusting screw (7) in the prism adjusting assembly, and adjusting the ridge level of the right-angle prism (10) to enable the second autocollimation theodolite (19) to be completely aligned;

s6, screwing a first blister support adjusting screw (309) and a second blister support adjusting screw (310) of the blister assembly to level the blister (304), namely, the blister in the blister (304) is located in the center of the blister (304) to represent the level of the blister (304), and the state is solidified through the blister fastening screw (301) to realize that the level of the blister (304) represents the ridge level of the right-angle prism (10).

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